Grid-Based Road Model with Multiple Layers

This document describes techniques, apparatuses, and systems for a grid-based road model with multiple layers. An example road-perception system generates a roadway grid representation that includes multiple cells. The road-perception system uses data from multiple information sources to generate a road model that includes multiple layers. Each layer represents a roadway attribute of each cell in the grid and includes one or more layer hypotheses. In this way, the described techniques and systems can provide an accurate and reliable road model and quantify uncertainty therein.